Self-following magnetic control and stable wireless energy supply capsule endoscope system

Abstract

The invention discloses a self-following magnetic control and stable wireless energy supply capsule endoscope system, and belongs to the technical field of medical instruments. The synchronous rotation magnetic control energy supply platform is arranged on the three-degree-of-freedom translation base, so that the synchronous rotation magnetic control energy supply platform performs three-degree-of-freedom translation along the X axis, the Y axis and the Z axis; the capsule endoscope is arranged between the synchronous rotation magnetic control energy supply platforms and is located in the body of a person to be examined during examination; and the examination bed is arranged in the synchronous rotation magnetic control energy supply platform and is used by a person to be examined. Stable wireless energy transmission can be achieved while accurate magnetic control is achieved, pose self-positioning and motion self-following of the capsule endoscope are achieved through interaction of the permanent magnet pairs with shape polarity, and stable wireless energy supply is achieved through the single-dimensional Helmholtz coil pair and the one-dimensional receiving coil which are always opposite to each other. The device has the advantages of simple structure, easy movement control and stable energy transmission.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to a capsule endoscope system with self-following magnetic control and stable wireless power supply. Background Art

[0002] Gastric cancer is a serious health challenge with high morbidity and mortality, and regular gastric cancer screening can effectively reduce its mortality. Compared with intubation gastroscopy, capsule endoscopy can perform non-invasive gastroscopy and has the advantages of no anesthesia and no risk of cross infection.

[0003] Due to the limited power of button batteries, they cannot support capsule endoscopes to work for a long time. Wireless energy transmission based on the principle of inductive coupling provides a potential solution. There are three main schemes for wireless energy transmission of capsule endoscopes: one-dimensional transmission and three-dimensional reception. The three-dimensional receiving coil occupies a large volume inside the capsule endoscope, and its induction power varies greatly with posture; the rotating two-dimensional transmitting coil and one-dimensional receiving coil scheme requires the transmitting coil to have rotational mechanics and is heavily dependent on the parameter feedback of the internal sensor for closed-loop control; the three-dimensional transmission and one-dimensional reception mode is also heavily dependent on internal sensors, and the mutual inductance between each two of the three transmitting coil pairs is difficult to eliminate at the same time.

[0004] In addition, magnetic control is widely used in clinical practice to manipulate capsule endoscopes for active examination of the stomach. Because the magnetic field is a curl field, the position and posture of the capsule endoscope are coupled under magnetic field control. Therefore, the equilibrium position of the capsule endoscope will change with the change of posture deviation, which complicates the motion control of the capsule endoscope.

[0005] Capsule endoscopes are developing towards controllable diagnostic capsule robots, so a key task involves solving the interference problem of different magnetic technologies, especially the compatibility between active magnetic control and wireless energy transmission technology. Chinese patent document No. CN116473487 records a wireless power supply system for capsule endoscopes, which can provide wireless power during magnetic control. However, the capsule endoscope of this system needs to integrate two motors and a universal rotating mechanical structure. The motor and mechanical structure occupy a large amount of volume inside the capsule endoscope, making it difficult to miniaturize, resulting in difficulty in swallowing. Summary of the invention

[0006] The purpose of the present invention is to provide a capsule endoscope system with self-following magnetic control and stable wireless power supply to solve the problems existing in the above-mentioned prior art.

[0007] To achieve the above-mentioned purpose, the present invention provides the following solutions: The present invention provides a capsule endoscope system with self-following magnetic control and stable wireless power supply,

[0008] Includes a three-degree-of-freedom translation base;

[0009] A synchronously rotating magnetically controlled energy supply platform is arranged on the three-degree-of-freedom translation base, so that the synchronously rotating magnetically controlled energy supply platform performs three-degree-of-freedom translation along the X-axis, the Y-axis and the Z-axis;

[0010] A capsule endoscope is arranged between the synchronously rotating magnetically controlled energy supply platforms and is located inside the body of the person to be examined during the examination;

[0011] The examination bed is arranged in the synchronously rotating magnetically controlled energy supply platform for use by the person to be examined.

[0012] Preferably, the three-degree-of-freedom translation base includes a first moving part, the first moving part is slidably connected to the second moving part, the first moving part drives the second moving part to move left and right along the X-axis, the top of the second moving part is slidably connected to the third moving part, the second moving part drives the third moving part to move forward and backward along the Y-axis, the third moving part is fixedly connected to the synchronously rotating magnetically controlled power supply platform, and the third moving part drives the synchronously rotating magnetically controlled power supply platform to move up and down along the Z-axis.

[0013] Preferably, the synchronously rotating magnetically controlled energy supply platform includes a connecting bracket symmetrically and slidingly connected to the third movable part, and an external permanent magnet pair is installed on the relative inner sides of the two connecting brackets, and the external permanent magnet pair is located at one end of the connecting bracket away from the third movable part. A single-dimensional Helmholtz coil pair is provided at one end of the external permanent magnet pair away from the connecting bracket, and the capsule endoscope is located between the single-dimensional Helmholtz coil pair.

[0014] Preferably, the magnetization direction of the external permanent magnet pair is along the Z-axis direction.

[0015] Preferably, the coil axis of the one-dimensional Helmholtz coil pair is along the Z-axis direction, and the coil axis of the one-dimensional Helmholtz coil pair passes through the center of the outer permanent magnet pair.

[0016] Preferably, the capsule endoscope comprises a capsule shell, in which a lens module, a wireless communication module, a main control module, a rectification and voltage stabilization module and a magnetic control power supply module are arranged in sequence from front to back.

[0017] Preferably, the magnetically controlled energy supply module comprises a coil frame arranged in the capsule shell, a magnetic core is provided at the center of the coil frame, a one-dimensional receiving coil is wound around the coil frame, and inner permanent magnet pairs are respectively provided on both sides of the coil frame.

[0018] Preferably, the magnetic poles of the inner permanent magnet pair are oriented in the same direction as the Z-axis.

[0019] The present invention discloses the following technical effects: the present invention can realize stable wireless energy transmission while achieving precise magnetic control, realize the self-positioning and self-following of the capsule endoscope through the interaction of permanent magnets with shape polarity, realize stable wireless energy supply through the single-dimensional Helmholtz coil pair and one-dimensional receiving coil that are always facing each other, and has the advantages of simple structure, easy motion control, and stable energy transmission. Through the proposed self-following magnetic control method, the decoupling control of the position and posture of the capsule endoscope is realized, which has the advantages of self-positioning and self-following of motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings constituting a part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0021] Figure 1 It is a structural schematic diagram of the capsule endoscope system with self-following magnetic control and stable wireless power supply during use of the present invention;

[0022] Figure 2 It is a schematic structural diagram of a three-degree-of-freedom translation base and a connecting bracket of the present invention;

[0023] Figure 3 A schematic diagram of the capsule endoscope of the present invention being powered by magnetic control;

[0024] Figure 4 This is a schematic diagram of the internal structure of the capsule endoscope of the present invention;

[0025] Figure 5 This is a schematic diagram of the magnetically controlled energy supply module of the present invention.

[0026] In the figure: 1. three-degree-of-freedom translation base; 2. synchronously rotating magnetically controlled power supply platform; 3. capsule endoscope; 4. person to be examined; 5. examination bed; 1-1. first movable part; 1-2. second movable part; 1-3. third movable part; 2-1. external permanent magnet pair; 2-2. single-dimensional Helmholtz coil pair; 2-3. connecting bracket; 3-1. capsule shell; 3-2. lens module; 3-3. wireless communication module; 3-4. main control module; 3-5. rectification and voltage regulation module; 3-6. magnetically controlled power supply module; 3-6-1. magnetic core; 3-6-2. one-dimensional receiving coil; 3-6-3. internal permanent magnet pair; 3-6-4. coil frame. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] Reference Figure 1-Figure 5 As shown, this embodiment provides a capsule endoscope system with self-following magnetic control and stable wireless power supply.

[0030] It includes a three-degree-of-freedom translation base 1;

[0031] The synchronously rotating magnetically controlled energy supply platform 2 is arranged on the three-degree-of-freedom translation base 1, so that the synchronously rotating magnetically controlled energy supply platform 2 performs three-degree-of-freedom translation along the X-axis, the Y-axis and the Z-axis;

[0032] The capsule endoscope 3 is arranged between the synchronously rotating magnetically controlled energy supply platforms 2 and is located inside the body 4 of the person to be examined during the examination;

[0033] The examination bed 5 is arranged in the synchronously rotating magnetically controlled energy supply platform 2 and is used by the person to be examined 4 .

[0034] The present invention can realize stable wireless energy transmission while achieving precise magnetic control, realize the self-positioning and self-following of the capsule endoscope through the interaction of permanent magnets with shape polarity, and realize stable wireless energy supply through the single-dimensional Helmholtz coil pair and one-dimensional receiving coil that are always facing each other. It has the advantages of simple structure, easy motion control, and stable energy transmission. Through the proposed self-following magnetic control method, the decoupling control of the position and posture of the capsule endoscope is realized, which has the advantages of self-positioning and self-following of motion.

[0035] A further optimized solution is that the three-degree-of-freedom translation base 1 includes a first moving part 1-1, the first moving part 1-1 is slidably connected to the second moving part 1-2, the first moving part 1-1 drives the second moving part 1-2 to move left and right along the X-axis through a motor and a guide rail, the top of the second moving part 1-2 is slidably connected to the third moving part 1-3, the second moving part 1-2 drives the third moving part 1-3 to move forward and backward along the Y-axis through a motor and a guide rail, the third moving part 1-3 is fixedly connected to the synchronously rotating magnetically controlled energy supply platform 2, and the third moving part 1-3 drives the synchronously rotating magnetically controlled energy supply platform 2 to move up and down along the Z-axis through a motor and a guide rail.

[0036] A further optimized solution is that the synchronously rotating magnetically controlled energy supply platform 2 includes a connecting bracket 2-3 symmetrically slidably connected in the third movable part 1-3, and an external permanent magnet pair 2-1 is installed on the relative inner sides of the two connecting brackets 1-1. The external permanent magnet pair 2-1 is located at the end of the connecting bracket 2-3 away from the third movable part 1-3, and a single-dimensional Helmholtz coil pair 2-2 is provided at the end of the external permanent magnet pair 2-1 away from the connecting bracket 2-3, and the capsule endoscope 3 is located between the single-dimensional Helmholtz coil pair 2-2.

[0037] According to a further optimization scheme, the magnetization direction of the outer permanent magnet pair 2-1 is along the Z-axis direction.

[0038] According to a further optimization scheme, the coil axis of the single-dimensional Helmholtz coil pair 2-2 is along the Z-axis direction, and the coil axis of the single-dimensional Helmholtz coil pair 2-2 passes through the center of the outer permanent magnet pair 2-1.

[0039] The outer permanent magnet pair 2-1 has shape polarity and is installed on the connecting bracket 2-3 at a certain interval, and the magnetization direction is along the Z-axis direction. The shape polarity of the outer permanent magnet pair 2-1 means that the length of one dimension on the cross section of the magnet perpendicular to the magnetization direction is much greater than the other dimension. The outer permanent magnet pair 2-1 can be driven by a motor to rotate synchronously around the Z-axis. The single-dimensional Helmholtz coil pair 2-2 is installed directly on the connecting bracket 2-3, and the coil axis is along the Z-axis direction. The single-dimensional Helmholtz coil pair 2-2 is located in the middle interval area of ​​the outer permanent magnet pair 2-1, and the coil axis passes through the center of the outer permanent magnet pair 2-1. When alternating current is passed through the single-dimensional Helmholtz coil pair 2-2, an alternating magnetic field along the Z-axis direction will be generated on the coil axis.

[0040] According to a further optimization scheme, the capsule endoscope 3 includes a capsule shell 3-1, in which a lens module 3-2, a wireless communication module 3-3, a main control module 3-4, a rectification and voltage stabilization module 3-5 and a magnetic control power supply module 3-6 are arranged from front to back.

[0041] The capsule shell 3-1 is made of biocompatible polymer materials, which are non-toxic, harmless, acid-resistant and pressure-resistant, and have no adverse effects on the human body. The front end of the capsule shell 3-1 is hemispherical, the rear end is a soft arc, and the middle part is cylindrical. The overall shape is capsule-shaped and suitable for human swallowing.

[0042] The lens module 3-2 can capture the stomach wall image in real time. It is located at the hemispherical end of the capsule shell 3-1 and consists of a lens group, a CMOS camera chip, and an LED light source arranged in a ring. During the examination, the LED light source is turned on to illuminate the stomach wall in the camera field of view. After the stomach wall image is converged by the lens group, the CMOS camera chip converts the optical signal into an electrical signal.

[0043] The wireless communication module 3-3 is adjacent to the lens module 3-2 and is mainly responsible for wireless communication with the host computer for receiving and sending information. While receiving parameter instructions from the external host computer, the wireless communication module 3-3 compresses the image signal generated by the lens module 3-2 and sends it to the external host computer in real time.

[0044] The main control module 3-4 is close to the wireless communication module 3-3, contains a microcontroller, and is the control center of the capsule endoscope 3. The main control module 3-4 controls the working state of the lens module 3-2 according to the parameter instructions of the external host computer.

[0045] The rectifier and voltage regulator module 3-5 is close to the main control module 3-4, and uses the rectifier and filter circuit and the voltage regulator chip to convert the AC power obtained by the wireless power supply into stable DC power, and supplies power to the entire capsule endoscope 3, rectifying and stabilizing the AC power directly obtained by the wireless power supply.

[0046] According to a further optimization scheme, the magnetically controlled energy supply module 3-6 includes a coil frame 3-6-4 arranged in the capsule shell 3-1, a magnetic core 3-6-1 is provided at the center of the coil frame 3-6-4, a one-dimensional receiving coil 3-6-2 is wound around the coil frame 3-6-4, and inner permanent magnet pairs 3-6-3 are provided on both sides of the coil frame 3-6-4.

[0047] The solution is further optimized so that the magnetic poles of the inner permanent magnet pair 3-6-3 are oriented in the same direction as the Z axis.

[0048] The magnetically controlled energy supply module 3-6 can realize the position control and wireless energy supply of the capsule endoscope 3 under the cooperation of the external magnetic field.

[0049] The magnetic core 3-6-1 is inserted in the center of the coil frame 3-6-4 to improve the energy receiving efficiency. The one-dimensional receiving coil 3-6-2 is wound on the coil frame 3-6-4. The inner permanent magnet pair 3-6-3 is a pair of bun-shaped NdFeB permanent magnets with shape polarity, which are installed on both sides of the coil frame 3-6-4. The magnetization direction of the inner permanent magnet pair 3-6-3 is in the same direction as the axis of the one-dimensional receiving coil 3-6-2. The coil frame 3-6-4 is made of polymer material and is used to assemble the inner permanent magnet pair 3-6-3, the one-dimensional receiving coil 3-6-2 and the magnetic core 3-6-1.

[0050] The magnetically controlled energy supply module 3-6 can be tightly assembled in the capsule shell 3-1 without relative rotation or movement.

[0051] Under the action of the magnetic field of the outer permanent magnet pair 2-1, the magnetic pole orientation of the inner permanent magnet pair 3-6-3 will always remain consistent with the Z-axis direction, so that the axial direction of the one-dimensional receiving coil 3-6-2 will also always remain consistent with the Z-axis direction.

[0052] Due to the shape polarity, the static magnetic field generated by the long strip of external permanent magnet pair 2-1 has rotational asymmetry. Therefore, when the synchronously rotating magnetically controlled energy supply platform 2 drives the external permanent magnet pair 2-1 to rotate around the Z axis through the motor, it will give the internal permanent magnet pair 3-6-3 a torque around the Z axis, thereby driving the capsule endoscope 3 to rotate synchronously around the Z axis. Therefore, the synchronously rotating magnetically controlled energy supply platform 2 can control the rotational freedom of the capsule endoscope 3 around the Z axis.

[0053] In the horizontal direction, the magnetic field of the outer permanent magnet pair 2-1 has the characteristics of being strong in the center and weak around. Under the action of the magnetic field, the inner permanent magnet pair 3-6-3 will always be stable in the middle of the magnetic field, can achieve self-positioning of the horizontal position, and can adjust the horizontal position of the capsule endoscope 3 through the first movable part 1-1 and the second movable part 1-2. In the vertical direction, the magnetic field generated by the outer permanent magnet pair 2-1 has the characteristics of being weak in the middle and strong at both ends. In the vertical direction, the vertical position of the capsule endoscope 3 can be controlled by changing the overall height of the synchronous rotating magnetic control power supply platform 2 through the third movable part 1-3. Thus, the three-degree-of-freedom translation base 1 can control the three translational degrees of freedom of the capsule endoscope 3.

[0054] The one-dimensional receiving coil 3-6-2 and the one-dimensional Helmholtz coil pair 2-2 remain facing each other during the magnetic control process, and their axes always coincide with each other, thereby maintaining stable wireless energy transmission.

[0055] Usage process

[0056] The examinee 4 takes a large amount of liquid to expand the stomach in advance, and then lies flat on the examination bed 5. The capsule endoscope 3 floats on the liquid surface of the stomach through the magnetic interaction between the outer permanent magnet pair 2-1 and the inner permanent magnet pair 3-6-3. The horizontal position of the capsule endoscope 3 is adjusted by the first moving part 1-1 and the second moving part 1-2, and the deflection posture of the capsule endoscope 3 around the Z axis is adjusted by the synchronous rotation of the magnetic control power supply platform 2, so that the side wall of the stomach can be fully inspected. Then, by letting the examinee 4 lie on his side, the top and bottom of the stomach can be fully inspected using the same method.

[0057] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0058] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A capsule endoscope system with self-following magnetic control and stable wireless power supply, characterized in that: It comprises a three-degree-of-freedom translation base (1); A synchronously rotating magnetically controlled energy supply platform (2) is arranged on the three-degree-of-freedom translation base (1), so that the synchronously rotating magnetically controlled energy supply platform (2) performs three-degree-of-freedom translation along the X-axis, the Y-axis and the Z-axis; A capsule endoscope (3) is arranged between the synchronously rotating magnetically controlled energy supply platforms (2) and is located inside the body of a person to be examined (4) during examination; An examination bed (5) is arranged in the synchronously rotating magnetically controlled energy supply platform (2) and is used by the person to be examined (4).

2. The capsule endoscope system with self-following magnetic control and stable wireless power supply according to claim 1 is characterized in that: The three-degree-of-freedom translation base (1) comprises a first moving part (1-1), the first moving part (1-1) is slidably connected to a second moving part (1-2), the first moving part (1-1) drives the second moving part (1-2) to move left and right along the X-axis, the top of the second moving part (1-2) is slidably connected to a third moving part (1-3), the second moving part (1-2) drives the third moving part (1-3) to move forward and backward along the Y-axis, the third moving part (1-3) is fixedly connected to the synchronously rotating magnetically controlled energy supply platform (2), and the third moving part (1-3) drives the synchronously rotating magnetically controlled energy supply platform (2) to move up and down along the Z-axis.

3. The capsule endoscope system with self-following magnetic control and stable wireless power supply according to claim 2 is characterized in that: The synchronously rotating magnetically controlled energy supply platform (2) comprises a connecting bracket (2-3) symmetrically slidably connected in the third moving part (1-3); an external permanent magnet pair (2-1) is installed on the opposite inner sides of the two connecting brackets (2-3); the external permanent magnet pair (2-1) is located at one end of the connecting bracket (2-3) away from the third moving part (1-3); a single-dimensional Helmholtz coil pair (2-2) is provided at one end of the external permanent magnet pair (2-1) away from the connecting bracket (2-3); and the capsule endoscope (3) is located between the single-dimensional Helmholtz coil pair (2-2).

4. The capsule endoscope system with self-following magnetic control and stable wireless power supply according to claim 3 is characterized in that: The magnetization direction of the outer permanent magnet pair (2-1) is along the Z-axis direction.

5. The capsule endoscope system with self-following magnetic control and stable wireless power supply according to claim 3 is characterized in that: The coil axis of the one-dimensional Helmholtz coil pair (2-2) is along the Z-axis direction, and the coil axis of the one-dimensional Helmholtz coil pair (2-2) passes through the center of the outer permanent magnet pair (2-1).

6. The capsule endoscope system with self-following magnetic control and stable wireless power supply according to claim 1, characterized in that: The capsule endoscope (3) comprises a capsule shell (3-1), wherein a lens module (3-2), a wireless communication module (3-3), a main control module (3-4), a rectification and voltage stabilization module (3-5) and a magnetic control energy supply module (3-6) are arranged in sequence from front to back in the capsule shell (3-1).

7. The capsule endoscope system with self-following magnetic control and stable wireless power supply according to claim 6 is characterized in that: The magnetically controlled energy supply module (3-6) comprises a coil frame (3-6-4) arranged in the capsule shell (3-1), a magnetic core (3-6-1) is provided at the center of the coil frame (3-6-4), a one-dimensional receiving coil (3-6-2) is wound around the coil frame (3-6-4), and inner permanent magnet pairs (3-6-3) are respectively provided on both sides of the coil frame (3-6-4).

8. The capsule endoscope system with self-following magnetic control and stable wireless power supply according to claim 7 is characterized in that: The magnetic poles of the inner permanent magnet pair (3-6-3) are oriented in the same direction as the Z-axis.

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